Spline Fusion: A continuous-time representation for visual-inertial fusion with application to rolling shutter cameras
نویسندگان
چکیده
In this paper, we describe a method for performing SLAM and visualinertial calibration robustly using inexpensive sensors such as rolling shutter CMOS cameras and MEMS IMUs. We make use of a continuous-time model for the trajectory of the camera that naturally allows us to fuse information from many unsynchronized and potentially high-rate sensors whilst limiting state size. We model the rolling shutter of a camera explicitly and can form errors generatively on inertial measurements. This model is not limited to visual-inertial SLAM and may also simplify integration of other sensors such as spinning SICK Laser rangers. At the heart of our approach lies a continuous trajectory representation similar to the one presented in [2]. We chose a formulation which offers:
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